## In this example, a 2D hash table H is used. It has a bin for each cell in the frame systems. In a preprocessing phase, the coordinates of all points in each model frame system are found. If there is a point in the cell (p,q) in the frame system with basis (ai,ak), then (ai,ak) is placed in the bin H(p,q)

## Since all pairs of points from the model will (generally) act as basis pairs, totally pairs will be in H

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